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added new statistics (features extracted current image, local map size) shown in GUI for Odometry

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1719 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-25 15:04:35 +00:00
parent c5eedd9a9d
commit ebeb116c0d
11 changed files with 135 additions and 37 deletions
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14
guilib/src/MainWindow.cpp
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@@ -342,7 +342,7 @@ MainWindow::MainWindow(PreferencesDialog * prefDialog, QWidget * parent) :
connect(this, SIGNAL(statsReceived(rtabmap::Statistics)), this, SLOT(processStats(rtabmap::Statistics)));
qRegisterMetaType<rtabmap::SensorData>("rtabmap::SensorData");
connect(this, SIGNAL(odometryReceived(rtabmap::SensorData, int, float)), this, SLOT(processOdometry(rtabmap::SensorData, int, float)));
connect(this, SIGNAL(odometryReceived(rtabmap::SensorData, int, float, int, int)), this, SLOT(processOdometry(rtabmap::SensorData, int, float, int, int)));
connect(this, SIGNAL(noMoreImagesReceived()), this, SLOT(stopDetection()));
@@ -531,7 +531,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
!_processingStatistics)
{
_lastOdometryProcessed = false; // if we receive too many odometry events!
emit odometryReceived(odomEvent->data(), odomEvent->quality(), odomEvent->time());
emit odometryReceived(odomEvent->data(), odomEvent->quality(), odomEvent->time(), odomEvent->features(), odomEvent->localMapSize());
}
}
else if(anEvent->getClassName().compare("ULogEvent") == 0)
@@ -554,7 +554,7 @@ void MainWindow::handleEvent(UEvent* anEvent)
}
}
void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality, float time)
void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality, float time, int features, int localMapSize)
{
Transform pose = data.pose();
if(pose.isNull())
@@ -584,6 +584,14 @@ void MainWindow::processOdometry(const rtabmap::SensorData & data, int quality,
{
_ui->statsToolBox->updateStat("Odometry/Time/ms", (float)data.id(), (float)time*1000.0f);
}
if(features >=0)
{
_ui->statsToolBox->updateStat("Odometry/Features/", (float)data.id(), (float)features);
}
if(localMapSize >=0)
{
_ui->statsToolBox->updateStat("Odometry/LocalMapSize/", (float)data.id(), (float)localMapSize);
}
if(!pose.isNull())
{
_lastOdomPose = pose;